Merge pull request #45 from StuyPulse/chezy

Chezy
StuyPulse · Oct 11, 2024 · aff2df8 · aff2df8
2 parents a22ee80 + 8410c76
commit aff2df8
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Showing 78 changed files with 670 additions and 361 deletions.
diff --git a/.gitignore b/.gitignore
@@ -162,8 +162,7 @@ bin/
 *-window.json
 
 # Logs
-*.wpilog
 *.log
 
 #ctre simulation
-/ctre_sim
+/ctre_sim
diff --git a/logs/FRC_20240928_015141.wpilog b/logs/FRC_20240928_015141.wpilog
diff --git a/logs/FRC_20240928_015311.wpilog b/logs/FRC_20240928_015311.wpilog
diff --git a/logs/FRC_20240928_015548.wpilog b/logs/FRC_20240928_015548.wpilog
diff --git a/logs/FRC_20240928_020420.wpilog b/logs/FRC_20240928_020420.wpilog
diff --git a/logs/FRC_20240928_020932.wpilog b/logs/FRC_20240928_020932.wpilog
diff --git a/logs/FRC_20240928_021120.wpilog b/logs/FRC_20240928_021120.wpilog
diff --git a/logs/FRC_20240928_022930__P5.wpilog b/logs/FRC_20240928_022930__P5.wpilog
diff --git a/logs/FRC_20240928_022955__P5.wpilog b/logs/FRC_20240928_022955__P5.wpilog
diff --git a/logs/FRC_20240928_025507.wpilog b/logs/FRC_20240928_025507.wpilog
diff --git a/logs/FRC_20240928_030325.wpilog b/logs/FRC_20240928_030325.wpilog
diff --git a/logs/FRC_20240928_032610.wpilog b/logs/FRC_20240928_032610.wpilog
diff --git a/logs/FRC_20240928_033507.wpilog b/logs/FRC_20240928_033507.wpilog
diff --git a/logs/FRC_20240928_035115.wpilog b/logs/FRC_20240928_035115.wpilog
diff --git a/logs/FRC_20240928_041159.wpilog b/logs/FRC_20240928_041159.wpilog
diff --git a/logs/FRC_20240928_172839__Q6.wpilog b/logs/FRC_20240928_172839__Q6.wpilog
diff --git a/logs/FRC_20240928_183325__Q13.wpilog b/logs/FRC_20240928_183325__Q13.wpilog
diff --git a/logs/FRC_20240928_195717__Q17.wpilog b/logs/FRC_20240928_195717__Q17.wpilog
diff --git a/logs/FRC_20240928_205012__Q23.wpilog b/logs/FRC_20240928_205012__Q23.wpilog
diff --git a/logs/FRC_20240928_224635__Q36.wpilog b/logs/FRC_20240928_224635__Q36.wpilog
diff --git a/logs/FRC_20240928_232742__Q41.wpilog b/logs/FRC_20240928_232742__Q41.wpilog
diff --git a/logs/FRC_20240929_001527__Q47.wpilog b/logs/FRC_20240929_001527__Q47.wpilog
diff --git a/logs/FRC_20240929_012233__Q55.wpilog b/logs/FRC_20240929_012233__Q55.wpilog
diff --git a/logs/FRC_20240929_170658__Q65.wpilog b/logs/FRC_20240929_170658__Q65.wpilog
diff --git a/logs/FRC_20240929_173844__Q69.wpilog b/logs/FRC_20240929_173844__Q69.wpilog
diff --git a/src/main/deploy/pathplanner/autos/ADEF BLUE.auto b/src/main/deploy/pathplanner/autos/ADEF BLUE.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.3334750274411264,
-      "y": 7.002978151231599
+      "x": 1.3901542060896621,
+      "y": 6.569495408336055
     },
-    "rotation": 41.18642861701727
+    "rotation": -0.16089256168708133
   },
   "command": {
     "type": "sequential",

diff --git a/src/main/deploy/pathplanner/autos/ADEF RED.auto b/src/main/deploy/pathplanner/autos/ADEF RED.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.3334750274411264,
-      "y": 7.002978151231599
+      "x": 1.3824623752298102,
+      "y": 6.555650112788321
     },
-    "rotation": 0
+    "rotation": 41.05050977995274
   },
   "command": {
     "type": "sequential",
@@ -46,12 +46,6 @@
           "data": {
             "pathName": "Red E Shoot to F"
           }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Red F to Shoot"
-          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/paths/Blue ABC Waypoints.path b/src/main/deploy/pathplanner/paths/Blue ABC Waypoints.path
@@ -16,32 +16,32 @@
     },
     {
       "anchor": {
-        "x": 2.6938714628917357,
-        "y": 5.631284339205584
+        "x": 3.35,
+        "y": 5.75
       },
       "prevControl": {
-        "x": 2.6854239726791893,
-        "y": 5.63537084593235
+        "x": 3.3415525097874537,
+        "y": 5.754086506726766
       },
       "nextControl": {
-        "x": 2.702318953104282,
-        "y": 5.627197832478817
+        "x": 3.3584474902125465,
+        "y": 5.745913493273234
       },
       "isLocked": false,
       "linkedName": "Blue BCA B"
     },
     {
       "anchor": {
-        "x": 2.8299207212253714,
-        "y": 4.577599659291581
+        "x": 2.9299999999999997,
+        "y": 4.73
       },
       "prevControl": {
-        "x": 2.8213830994377913,
-        "y": 4.581607916922298
+        "x": 2.9214623782124196,
+        "y": 4.734008257630718
       },
       "nextControl": {
-        "x": 2.8384583430129515,
-        "y": 4.573591401660863
+        "x": 2.93853762178758,
+        "y": 4.725991742369283
       },
       "isLocked": false,
       "linkedName": "Blue BCA C"

diff --git a/src/main/deploy/pathplanner/paths/Blue Amp Side Mobility.path b/src/main/deploy/pathplanner/paths/Blue Amp Side Mobility.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7023114046228107,
+        "y": 6.739121939782341
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.702311404622812,
+        "y": 6.739121939782341
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.496814123442796,
+        "y": 7.4598028796628215
+      },
+      "prevControl": {
+        "x": 1.496814123442796,
+        "y": 7.4598028796628215
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Misc",
+  "previewStartingState": {
+    "rotation": 60.94539590092292,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/Blue B to Center.path b/src/main/deploy/pathplanner/paths/Blue B to Center.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.6938714628917357,
-        "y": 5.631284339205584
+        "x": 3.35,
+        "y": 5.75
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.113811268173132,
-        "y": 5.556096692550529
+        "x": 2.769939805281396,
+        "y": 5.6748123533449455
       },
       "isLocked": false,
       "linkedName": "Blue BCA B"

diff --git a/src/main/deploy/pathplanner/paths/Blue C to Shoot Before A.path b/src/main/deploy/pathplanner/paths/Blue C to Shoot Before A.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.8299207212253714,
-        "y": 4.577599659291581
+        "x": 2.9299999999999997,
+        "y": 4.73
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.454095504946963,
-        "y": 6.165533422800476
+        "x": 2.5541747837215913,
+        "y": 6.317933763508896
       },
       "isLocked": false,
       "linkedName": "Blue BCA C"

diff --git a/src/main/deploy/pathplanner/paths/Blue Center to B.path b/src/main/deploy/pathplanner/paths/Blue Center to B.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.5588456716347956,
+        "x": 1.56,
         "y": 5.5301848373414
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.401533816274478,
+        "x": 2.4026881446396824,
         "y": 5.599459389022944
       },
       "isLocked": false,
       "linkedName": "Blue BCA Starting Pose"
     },
     {
       "anchor": {
-        "x": 2.6938714628917357,
-        "y": 5.631284339205584
+        "x": 3.35,
+        "y": 5.75
       },
       "prevControl": {
-        "x": 1.848971916879846,
-        "y": 5.5467703476329575
+        "x": 2.5051004539881103,
+        "y": 5.665486008427374
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 1.5,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/Blue Center to C.path b/src/main/deploy/pathplanner/paths/Blue Center to C.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.8299207212253714,
-        "y": 4.577599659291581
+        "x": 2.9299999999999997,
+        "y": 4.73
       },
       "prevControl": {
-        "x": 2.111455644972302,
-        "y": 5.35043636493523
+        "x": 2.2115349237469304,
+        "y": 5.50283670564365
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Blue D Shoot to E.path b/src/main/deploy/pathplanner/paths/Blue D Shoot to E.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 4.844074705820543,
-        "y": 6.341528771227186
+        "x": 1.6981417438618351,
+        "y": 3.7772118849081013
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.579303673860324,
-        "y": 6.340999957855571
+        "x": 3.433370711901616,
+        "y": 3.776683071536486
       },
       "isLocked": false,
       "linkedName": "Blue Midline Shoot Pose"

diff --git a/src/main/deploy/pathplanner/paths/Blue D to Shoot.path b/src/main/deploy/pathplanner/paths/Blue D to Shoot.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 4.844074705820543,
-        "y": 6.341528771227186
+        "x": 1.6981417438618351,
+        "y": 3.7772118849081013
       },
       "prevControl": {
-        "x": 7.70048416956953,
-        "y": 7.366224863588121
+        "x": 4.554551207610822,
+        "y": 4.801907977269035
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Blue E Shoot to F.path b/src/main/deploy/pathplanner/paths/Blue E Shoot to F.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 4.844074705820543,
-        "y": 6.341528771227186
+        "x": 1.6981417438618351,
+        "y": 3.7772118849081013
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.865711885269925,
-        "y": 7.084464938160646
+        "x": 4.719778923311217,
+        "y": 4.520148051841561
       },
       "isLocked": false,
       "linkedName": "Blue Midline Shoot Pose"
     },
     {
       "anchor": {
-        "x": 9.32365277676984,
-        "y": 4.877773358597312
+        "x": 8.282659617774593,
+        "y": 4.07671724848658
       },
       "prevControl": {
-        "x": 6.422771590392083,
-        "y": 4.690301445191947
+        "x": 5.381778431396835,
+        "y": 3.889245335081215
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Blue E to Shoot.path b/src/main/deploy/pathplanner/paths/Blue E to Shoot.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 4.844074705820543,
-        "y": 6.341528771227186
+        "x": 1.6981417438618351,
+        "y": 3.7772118849081013
       },
       "prevControl": {
-        "x": 5.895884501962457,
-        "y": 6.343980542313763
+        "x": 2.7499515400037486,
+        "y": 3.779663655994678
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Blue F to Shoot.path b/src/main/deploy/pathplanner/paths/Blue F to Shoot.path
@@ -3,29 +3,29 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 9.32365277676984,
-        "y": 4.877773358597312
+        "x": 8.282659617774593,
+        "y": 4.07671724848658
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.497337601260025,
-        "y": 6.27989797646262
+        "x": 4.738621898896219,
+        "y": 3.88245927489006
       },
       "isLocked": false,
       "linkedName": "Blue F"
     },
     {
       "anchor": {
-        "x": 4.844074705820543,
-        "y": 6.341528771227186
+        "x": 4.24738092686751,
+        "y": 5.167803455956615
       },
       "prevControl": {
-        "x": 6.271245847923244,
-        "y": 6.380372517069439
+        "x": 5.436537977800659,
+        "y": 4.006336996118933
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "Blue Midline Shoot Pose"
+      "linkedName": "Blue F Shoot"
     }
   ],
   "rotationTargets": [],
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 11.738504411842449,
+    "rotation": -2.200416275819262,
     "rotateFast": false
   },
   "reversed": false,